γ-Adaptive consensus control for multi-agent systems with adjustable convergence speed

Abstract

Convergence speed of the multi-agent system is usually determined by the algebraic connectivity of the communication network. By changing the network topology or getting more state information, the algebraic connectivity can increase, but it is usually fixed and may be very small, which means that it cannot be adjusted flexibly according to the requirements of the convergence speed. In order to overcome this problem, we investigate the convergence speed adjustment problem of multi-agent systems. Firstly, we propose a new γ-adaptive consensus protocol, where the weights of the edges can adaptively change according to the status difference between neighboring agents. By this protocol, not only the convergence time is decreased, but also the convergence speed can be quantitatively adjusted through changing the value of γ approximately. Then, a sufficient condition for consensus is given, and the adjustable feature of the convergence speed is proved. Finally, numerical simulations are presented to illustrate theoretical results.